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Structural properties and classification of kinematic and dynamic models of wheeled mobile robots
Abstract
The structure of the kinematic and dynamic models of wheeled mobile robots is analyzed. It is shown that, for a large class of possible configurations, they can be classified into five types, characterized by generic structures of the model equations. For each type of model the following questions are addressed: (ir)reducibility and (non)holonomy, mobility and controllability, configuration of the motorization, and feedback equivalence.
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Cited by
Shepherd, R. F., Ilievski, F., Choi, W., Morin, S. A., Stokes, A. A., Mazzeo, A. D., Chen, X., Wang, M., & Whitesides, G. M. (2011) · Proceedings of the National Academy of Sciences · doi:10.1073/pnas.1116564108 · Cited by 2,111
A review of mobile robots: Concepts, methods, theoretical framework, and applications
Rubio, F., Valero, F., & Llopis-Albert, C. (2019) · International Journal of Advanced Robotic Systems · doi:10.1177/1729881419839596 · Cited by 763
Guidelines in nonholonomic motion planning for mobile robots
Laumond, J. P., Sekhavat, S., & Lamiraux, F. (2006) · Lecture Notes in Control and Information Sciences · doi:10.1007/bfb0036070 · Cited by 330
Neural Network-Based Motion Control of an Underactuated Wheeled Inverted Pendulum Model
Yang, C., Li, Z., Cui, R., & Xu, B. (2014) · IEEE Transactions on Neural Networks and Learning Systems · doi:10.1109/tnnls.2014.2302475 · Cited by 305
Robust Adaptive Controller for a Tractor–Trailer Mobile Robot
Keymasi Khalaji, A., & Moosavian, S. A. A. (2014) · IEEE/ASME Transactions on Mechatronics · doi:10.1109/tmech.2013.2261534 · Cited by 166
Metadata
- Authors
- Campion, G., Bastin, G., & Dandrea-Novel, B.
- Venue
- IEEE Transactions on Robotics and Automation
- Published
- 1996
- Volume
- 12
- Issue
- 1
- Pages
- 47-62
- ISSN
- 1042-296X (ISSN-L)
- OpenAlex
- W2149012351
- Cited by
- 1,192
- References
- 0
- FWCI
- 27.01
- Type
- journal article
- Language
- en
- Open access
- closed
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- CoChat. (2026). Citation check: Structural properties and classification of kinematic and dynamic models of wheeled mobile robots. https://app.cochat.ai/papers/10.1109/70.481750
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- Campion, G., Bastin, G., & Dandrea-Novel, B. (1996). Structural properties and classification of kinematic and dynamic models of wheeled mobile robots. IEEE Transactions on Robotics and Automation. https://doi.org/10.1109/70.481750
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Bibliographic data: Semantic Scholar, OpenAlex, Crossref.
Contains information from the Semantic Scholar Academic Graph Datasets, made available under the ODC Attribution License (ODC-BY 1.0).
Semantic Scholar’s data is described in: Kinney, R., et al. (2023). The Semantic Scholar Open Data Platform. arXiv:2301.10140.
